Continuous Puncture Method for Abdominal Puncture With Respiratory Variation by Deriving Puncture Initiation Timing that Minimizes IntraCycle Error. - Keisuke Oi; Ryohei Saito; Takuma Ogawa; Hiroyasu Iwata (ROBIO, 2024)

Robotic Cytology Using Extra-Fine Needles-Derivation of Suction Conditions for Collecting the Necessary Amount While Reducing Specimen Contamination with Blood. - Shotaro Tamura; Keisuke Oi; Ryusuke Hamano; Hiroyasu Iwata (SII, 2025)